Device and method for adjusting rigidity center of two-degree-of-freedom gyroscope

Abstract

The invention relates to a two-degree-of-freedom gyroscope rigidity center adjusting device and method, which are characterized in that a gyroscope is placed above a double-shaft turntable, and a gyroscope rigidity center adjusting plate is placed near the gyroscope and is connected with a gyroscope zero setting circuit board; the digital meter is connected with a gyroscope force feedback rebalance control circuit board, and the gyroscope force feedback rebalance control circuit board is connected with a gyroscope zero setting circuit board; the variable-frequency gyroscope motor power supply is connected with an insulator corresponding to a gyroscope motor lead; and the rigidity center of the gyroscope is adjusted through the gyroscope rigidity center adjusting plate. According to the method, the level of multiple disturbance torques in the gyroscope can be remarkably reduced, so that self-compensation of multiple errors in the gyroscope is realized, and the stability of a scale factor and a drift coefficient of the gyroscope is improved. Meanwhile, the adaptability of the gyroscope to a severe environment is remarkably enhanced, and particularly the resistance to temperature, impact and vibration is remarkably improved, so that the anti-interference capability of the gyroscope is remarkably enhanced, the in-vibration precision of the gyroscope can be improved, and the adaptability of the gyroscope to an upper-level inertial navigation system is also improved.

Description

Technical Field

[0001] The invention belongs to the technical field of inertial navigation and measurement and control, and in particular to a device and method for adjusting the stiffness center of a dual-degree-of-freedom gyroscope. Background Art

[0002] In the field of inertial navigation and measurement and control technology, the poor environmental adaptability of gyroscopes has always been an important factor in the poor navigation accuracy of inertial navigation systems. Especially in inertial navigation systems in harsh environments without temperature control and vibration reduction measures, the performance of the gyroscopes in the system is particularly degraded. In order to make up for the defect of poor environmental adaptability of gyroscopes, some inertial navigation systems use H angular momentum modulation technology.

[0003] H angular momentum modulation technology is a monitoring technology for self-compensation of inertial navigation system errors. The navigation gyro and H modulation monitoring gyro are installed on the inertial navigation system platform at the same time, and the angular momentum H value of the monitoring gyro is periodically changed to modulate the interference torque on the gyro axis and compensate it. The application of H modulation technology makes the parameters such as the scale factor and drift coefficient of the gyro of the inertial navigation system more stable.

[0004] At present, only the inertial navigation system composed of a single-degree-of-freedom liquid-floating integral gyroscope with a permanent magnet gyro motor and a dynamic pressure gas bearing uses the H angular momentum modulation technology, which belongs to the error compensation technology at the level of the inertial navigation system, and the gyroscope at the inertial element level one level lower than the inertial navigation system has not been reported to use similar technology. A large number of basic experiments have proved that various interference torques inside the gyroscope are the main factors leading to the poor environmental adaptability of the gyroscope. Therefore, it is urgent for those skilled in the art to develop a gyroscope-specific error self-compensation technology to improve environmental adaptability. Summary of the invention

[0005] The purpose of the present invention is to overcome the shortcomings of the prior art and to propose a dual-degree-of-freedom gyroscope stiffness center adjustment device and method, which can significantly reduce the level of multiple interference torques inside the gyroscope, thereby achieving self-compensation of multiple errors inside the gyroscope and improving the stability of the gyroscope scale factor and drift coefficient.

[0006] The present invention solves the technical problem by adopting the following technical solutions:

[0007] A dual-degree-of-freedom gyroscope stiffness center adjustment device comprises a dual-axis turntable, a variable-frequency gyro motor power supply, a digital meter, a gyroscope force feedback rebalancing control circuit board and a gyroscope stiffness center adjustment plate, wherein the gyroscope is mounted on the dual-axis turntable, the variable-frequency gyro motor power supply is connected to the insulator corresponding to the gyro motor lead wire and is used to supply power to the gyroscope motor, the gyroscope stiffness center adjustment plate is placed near the gyroscope and is connected to the gyroscope zeroing circuit board and is used to adjust the stiffness center of the gyroscope, the digital meter is connected to the gyroscope force feedback rebalancing control circuit board and is used to measure data, and the gyroscope force feedback rebalancing control circuit board is connected to the gyroscope zeroing circuit board and is used to output an excitation voltage, a force feedback current and a sensor zero voltage.

[0008] Moreover, the gyro stiffness center adjustment board includes four gyro sensor zero adjustment resistors, which are carbon film adjustable resistors to avoid interference of inductance on gyro stiffness center adjustment and gyro preamplification and zero adjustment resistor configuration processes.

[0009] Moreover, the dual-axis turntable has main axis and pitch axis rotation functions.

[0010] Moreover, the gyroscope force feedback rebalancing control circuit board has a gyroscope force feedback closed-loop control function, which is used to enable the gyroscope to work in a force feedback closed-loop state.

[0011] A method for adjusting a dual-degree-of-freedom gyroscope stiffness center adjustment device comprises the following steps:

[0012] Step 1: Place the gyroscope on top of the dual-axis turntable and place the gyroscope stiffness center adjustment plate near the gyroscope;

[0013] Step 2, connect the digital meter to the gyroscope force feedback rebalancing control circuit board, connect the gyroscope force feedback rebalancing control circuit board to the gyroscope zeroing circuit board, connect the variable frequency gyro motor power supply to the insulator corresponding to the gyro motor lead, and connect the gyroscope stiffness center adjustment plate to the gyroscope zeroing circuit board;

[0014] Step 3: Adjust the stiffness center of the gyroscope using the gyroscope stiffness center adjustment plate.

[0015] Moreover, the specific implementation method of step 3 is: place the gyroscope momentum axis in a static position parallel to the earth's polar axis, the gyroscope is in an open circuit state, and the gyroscope sensor AC zero voltage is adjusted in sequence through the gyroscope sensor zero adjustment resistors Rx1, Rx2, Ry1, and Ry2 To the minimum, close the force feedback loop of the gyro rebalancing control circuit, reduce the rotation frequency of the gyro motor by a certain value, at this time the rotation frequency of the gyro motor is ω1, and record the value of the gyro rate output DC zero voltage and Then adjust the gyro motor frequency symmetrically to a certain value. At this time, the gyro motor frequency is ω2, and record the value of the gyro rate output DC zero voltage. and Adjust the zeroing resistor of the gyro sensor. or Towards the mean Approach and observe and or and The convergence trend of the gyro sensor is determined, thereby deciding to continue adjusting from the ω1 or ω2 frequency corresponding state side. In this way, the gyro rate output DC zero-position voltage value is made close to the voltage value corresponding to the gyro stiffness center point by adjusting the gyro sensor zero-position resistance. The above voltage value approximation adjustment steps are repeatedly tried, and finally the gyro rate output DC zero-position voltage remains unchanged when the gyro motor rotation frequency is set to any frequency within the frequency range of ω1 to ω2.

[0016] Moreover, the stiffness center adjustment is performed synchronously with the gyroscope pre-amplification and zero adjustment resistor configuration process.

[0017] The advantages and positive effects of the present invention are:

[0018] 1. The present invention can significantly reduce the level of multiple interference torques inside the gyroscope, thereby achieving self-compensation of multiple errors inside the gyroscope and improving the stability of the gyroscope's scale factor and drift coefficient.

[0019] 2. When the gyro motor speed ω is affected by temperature, shock and vibration, causing the gyro to be under-tuned or over-tuned, the method of the present invention can keep the gyro rate output DC zero voltage unchanged. Therefore, the adaptability of the gyro adjusted by the present invention to cope with harsh environments is significantly enhanced, especially the resistance to temperature, shock and vibration is significantly improved, so that the gyro's own anti-interference ability is significantly enhanced, and the accuracy of the gyro in a vibration environment, that is, the vibration center accuracy, can be improved, and the compatibility with the upper-level inertial navigation system is also improved.

[0020] 3. Except for the gyroscope stiffness center adjustment plate which needs to be specially made, the present invention does not require customized expensive special equipment, and the device of this patent can be realized with the help of the equipment used for gyroscope debugging.

[0021] 4. H modulation at the inertial navigation system level generally requires the gyroscope momentum to be increased to twice the angular momentum, or changed to -H angular momentum for modulation. However, the present invention is applied to the gyroscope stiffness center adjustment, and only needs to change the reference angular momentum by about 4%, which greatly reduces the frequency conversion requirements for the gyroscope motor power supply.

[0022] 5. The present invention has been verified in practice that when the gyro stiffness center is adjusted, the gyro rate output AC zero position voltage output also reaches a minimum value. Therefore, the present invention is also used to assist in adjusting the gyro rate AC zero position voltage output.

[0023] 6. The present invention provides a reference for other types of mechanical gyroscopes to eliminate internal interference torque and improve the environmental adaptability of gyroscopes.

[0024] 7. The method of the present invention is simple and easy to implement, and the operation process is easy to solidify. It is particularly suitable for mass production of gyroscopes and can greatly improve the survival rate of mass production of gyroscopes. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of various moments acting on the gyro rotor assembly of the present invention;

[0026] Figure 2 It is an analysis diagram of various moments acting on the gyro rotor assembly of the present invention;

[0027] Figure 3 It is a schematic diagram of the first adjustment of the stiffness center of the gyroscope of the present invention;

[0028] Figure 4 It is a schematic diagram of re-adjusting the gyroscope stiffness center after changing the adjustment direction of the present invention;

[0029] Figure 5 The present invention corresponds to Figure 3 a) Figure 4 The subsequent adjustment process of d) and e);

[0030] Figure 6 It is a schematic diagram of the composition of the gyroscope stiffness center adjustment device of the present invention;

[0031] Figure 7 It is a schematic diagram of placing the gyro rotor assembly of the present invention parallel to the earth's polar axis;

[0032] Figure 8 Schematic diagram of the principle of the gyroscope stiffness center adjustment circuit of the present invention. DETAILED DESCRIPTION

[0033] The present invention is further described in detail below with reference to the accompanying drawings.

[0034] A dual-degree-of-freedom gyroscope stiffness center adjustment device, such as Figure 6As shown, it includes a dual-axis turntable, a variable-frequency gyro motor power supply, a digital meter, a gyro force feedback rebalancing control circuit board and a gyro stiffness center adjustment board, wherein multiple digital meters in the device display at least 7 channels of data, including 2 channels of gyro sensor AC zero-position voltage, 2 channels of gyro rate output DC zero-position voltage, 2 channels of gyro rate output AC zero-position voltage, and 1 channel of gyro motor frequency display output. The gyroscope is installed on a dual-axis turntable, and the variable-frequency gyro motor power supply is connected to the insulator corresponding to the gyro motor lead to power the gyroscope motor. The gyroscope stiffness center adjustment plate is placed near the gyroscope and connected to the gyroscope zeroing circuit board to adjust the stiffness center of the gyroscope. The digital meter is connected to the gyroscope force feedback rebalancing control circuit board to measure and collect the gyroscope rate output DC zero voltage and AC zero voltage, as well as the gyro sensor AC zero voltage and gyro motor rotation frequency data. The gyroscope force feedback rebalancing control circuit board is connected to the gyroscope zeroing circuit board to output the excitation voltage for exciting the gyro sensor, the force feedback current for applying torque to the gyro torquer, and the sensor AC zero voltage.

[0035] The gyro stiffness center adjustment board includes 4 gyro sensor zero adjustment resistors. The gyro sensor zero adjustment resistors need to use carbon film adjustable resistors. This type of resistor has no inductance, avoiding the interference of inductance on the gyro stiffness center adjustment and the gyro pre-amplification and zero adjustment resistor configuration process.

[0036] The frequency variation range of the variable frequency gyro motor power supply is at least above 60Hz. The turntable of the device needs to adopt a dual-axis turntable with the main axis and pitch axis rotation functions. The rebalancing control circuit board in the device has a gyro force feedback closed-loop control function, which can realize the gyro working in a force feedback closed-loop state.

[0037] A method for adjusting a dual-degree-of-freedom gyroscope stiffness center adjustment device comprises the following steps:

[0038] Step 1: Place the gyroscope on top of the dual-axis turntable and place the gyroscope stiffness center adjustment plate near the gyroscope;

[0039] Step 2, connect the digital meter to the gyroscope force feedback rebalancing control circuit board, connect the gyroscope force feedback rebalancing control circuit board to the gyroscope zeroing circuit board, connect the variable frequency gyro motor power supply to the insulator corresponding to the gyro motor lead, and connect the gyroscope stiffness center adjustment plate to the gyroscope zeroing circuit board;

[0040] Step 3: Adjust the stiffness center of the gyroscope using the gyroscope stiffness center adjustment plate.

[0041] The internal torques of the gyroscope during operation are as follows: Figure 1 , Figure 2 The gyro rotor assembly is connected to the gyro motor shaft through a universal hinge, and the center point of the hinge is point O. Figure 1 As shown in the figure, assuming that the gyro rotor assembly axis and the gyro motor transmission shaft are deflected, the gyro rotor assembly momentum moment The angle between the direction and the gyro motor axis is α, passing through point O and perpendicular to the momentum Direction establishment Figure 2 In the coordinate system OXYZ shown, plane l coincides with the OXY plane.

[0042] During the high-speed rotation of the gyro rotor assembly, it is subjected to the gas damping torque. Direction and gyro rotor assembly momentum The direction is opposite to the gyro motor speed Related.

[0043]

[0044] In formula (1), R is the radius of the gyro rotor assembly, μ represents the viscosity coefficient of the gas medium, ρ is the density of the gas medium, Δ is the shape coefficient of the gyro rotor, and ω is the rotation speed of the gyro rotor assembly.

[0045] The driving torque of the gyro motor acting on the gyro rotor is Its direction is along the gyro motor axis and is related to the gyro motor speed. Same direction. and The resultant torque is Located through point O and angular momentum In the vertical plane l, pointing to the negative direction of the Y axis, such as Figure 1 , Figure 2 shown.

[0046]

[0047] From formula (2), we can see that Gyro motor speed When the gyro is in the state of only turning on the gyro motor and there is no angular velocity input, The flywheel assembly is caused to precess in a direction that causes the gyro rotor assembly axis to coincide with the gyro motor drive axis. When the gyro rotor assembly axis completely coincides with the gyro motor drive axis, disappears, when the gyro stiffness center is adjusted to actively pull the gyro rotor assembly axis relative to the gyro motor drive axis, Appeared again.

[0048] The gyro rotor assembly drives the surrounding gas to form a high-speed rotating airflow field during high-speed rotation. Due to the uneven gap between the gyro rotor assembly and the gyro shell, the gas medium has a high pressure when it flows through a small gap during high-speed flow, and a low pressure when it flows through a large gap, thus generating a dynamic pressure moment on the gyro rotor assembly. Gyro motor speed The moment is in plane l and points to the positive direction of the X axis. Figure 1 , Figure 2 shown.

[0049]

[0050] In formula (3), Δd represents the difference between the maximum gap and the minimum gap of the fluid, d0 is the average air gap of the fluid, ρ is the fluid density, and C p is the air gap structural coefficient, and ω is the rotation speed of the gyro rotor assembly. When the gyro is in an open circuit state and there is no angular velocity input, The flywheel assembly is caused to precess in a direction that balances the dynamic pressure at various locations inside the gyroscope.

[0051] Since the gyroscope uses an inductive sensor, when the gyro rotor assembly axis deflects relative to the gyro motor drive shaft, the gap between the gyro sensor stator and the armature will deviate, thus forming an electromagnetic suction torque. This moment is in plane l and points to the negative direction of the X axis. Its direction is the same as the dynamic pressure moment. The signals of the gyro sensor and gyro motor are isolated from each other. Gyro motor speed Not relevant.

[0052]

[0053] In formula (4), I is the effective value of the alternating current passing through the stator coil of the gyro sensor, W is the number of turns of the stator coil of the gyro sensor, r is the distance from the stator of a single gyro sensor to the center of the base, μ0 is the vacuum magnetic permeability, a and b are the length and width of the magnetic core, δ1 is the minimum distance between the upper end surface of the magnetic core and the armature, and δ2 is the maximum distance between the upper end surface of the magnetic core and the armature. When the gyro is in an open circuit state and there is no angular velocity input, The flywheel assembly is caused to precess, and the direction of the precession is a direction in which the deflection angle of the gyro rotor assembly is increasingly increased.

[0054] Figure 2 middle is the torque generated by the gyro torquer, which is in plane l and points to the positive direction of the Y axis. The direction is opposite. This torque is the torque generated by the gyro torque device. When the gyro is in a closed circuit state, it can pull the gyro rotor assembly straight or off. Since the gyro torque device is isolated from the gyro motor, this torque is related to the gyro motor speed. Not relevant.

[0055] Figure 2 middle The torque generated by the unbalanced mass of the gyro rotor assembly passes through the coordinate origin O but is not in plane l. When the gyro is debugged, its position in the coordinate system is fixed and can point to any direction. Point to the quadrant where the X, Y, and Z axes are all positive. Decompose into Z axis and XOY plane respectively, To resolve the torque component on the Z axis, is the torque component decomposed into the XOY plane. and angular momentum The coincidence of directions will not cause the gyro rotor assembly to precess, so the torque does not belong to the interference torque and is not considered in the present invention. The gyro rotor assembly can be precessed, Decomposed along the X and Y axes respectively, θ is The angle with the Y axis, decomposed into the moment in the positive direction of the Y axis is The torque decomposed to the positive direction of the X-axis is because It is the torque generated by the unbalanced mass, so the torque is related to the gyro motor speed. Not relevant, so Gyro motor speed Not relevant.

[0056] Assumptions Figure 2 The moments or moment components on the X and Y axes are all cancelled out in plane l, which can be expressed as equations (5) and (6):

[0057]

[0058] Modulo (5):

[0059]

[0060] Then we have:

[0061]

[0062] because and Gyro motor speed is not related, so whether θ has a definite value depends on For (3), The derivatives are:

[0063]

[0064] Since ω∈[ω1,ω2], then is a monotonically increasing function and is bounded, so θ converges and has a definite value. If the interior of the gyroscope is a vacuum, then It does not affect the derivation similar to the above. At this time, formula (5) becomes:

[0065]

[0066] from above and Gyro motor speed It can be seen from the irrelevance that θ also has a definite value at this time.

[0067] From formula (6), we can know that:

[0068]

[0069] There are also:

[0070]

[0071] In formula (7), K t is the gyro torquer scale factor, and I is the current flowing through the gyro torquer coil. I passes through the sampling resistor of the component's rebalance control circuit to generate the gyro rate output DC zero voltage, so The size of determines the value of the gyro rate output DC zero voltage.

[0072] For (2), The derivatives are:

[0073]

[0074] because Gyro motor speed Not relevant, and because ω∈[ω1,ω2], so is a monotonically increasing function and is bounded, so Convergent and has a definite solution.

[0075] Based on the above derivation, we can always find a gyroscope working state that makes equations (5) and (6) valid at the same time.

[0076] Since the two-axis output of the gyroscope is cross-coupled, and multiple torques increase and decrease and cross-influence each other, the actual situation is very complicated. During the adjustment of the gyroscope stiffness center, if the adjustment direction is incorrect, that is, whether to adjust from the ω1 or ω2 frequency corresponding state side, it is easy to cause If the divergence continues, the divergence will be aggravated. Divergence requires immediate change of adjustment direction, which ultimately leads to convergence.

[0077] Figure 3 Middle longitudinal axis U X(Y)It is the DC zero voltage value of the X or Y axis gyro rate output, and the horizontal axis corresponds to the number of adjustments. Figure 3 a) is when the gyro sensor zero resistance is adjusted for the first time from the ω2 corresponding state side. Towards the median / 2When approaching, It also approaches the median value, which is an ideal convergence situation.

[0078] Figure 3 b) is when the gyro sensor zero resistance is adjusted for the first time from the ω2 corresponding state side. Towards the median When approaching, The situation is far away from the median, which is the first undesirable divergence situation. At this time, the adjustment direction should be changed to adjust again from the state side corresponding to ω1 Towards the median When approaching, Inevitable Figure 4 e) corresponds to the convergence situation.

[0079] Figure 3 c) is when the gyro sensor zero resistance is adjusted for the first time from the ω1 corresponding state side. Towards the median When approaching, The second divergence is not desirable. At this time, the adjustment direction should be changed and adjusted again from the ω2 corresponding state side. Towards the median When approaching, Inevitable Figure 4 d) The corresponding convergence situation.

[0080] From the above deduction, we can see that Both have monotonicity, so when the first adjustment divergence occurs, the adjustment direction will be changed and adjusted again from the ω1 or ω2 frequency corresponding state side. The first and second adjustments will not encounter Figure 3 If both b) and c) occur at the same time, the first adjustment will only occur Figure 3 One of the situations b) and c) above.

[0081] when Figure 3 a) Figure 4 After the convergence of d) and e) is basically determined, we can The voltage value can be adjusted repeatedly by adjusting the corresponding state side of ω1 or ω2 to produce the convergence effect. It should be noted that the corresponding Figure 4 In the convergence cases d) and e), when it is determined that the subsequent adjustment will be made from the state side corresponding to ω1 (ω2), each adjustment can only be made on the state side corresponding to ω1 (ω2). value, while the other side The value is only used for observation and calculation, and the established adjustment state cannot be changed midway; Figure 3 In a) convergence situation, the subsequent adjustment can change the adjustment state side arbitrarily in the middle. Figure 3 a) Figure 4 The subsequent adjustment process for situations d) and e) is as follows: Figure 5 f), g), and h). After adjusting the gyroscope stiffness center n times according to the above method, , U X(Y)ω The values ​​eventually converge to a point on the graph.

[0082] According to the above dual-degree-of-freedom gyroscope stiffness center adjustment device and method, the effect of the present invention is demonstrated by taking the gyroscope stiffness center adjustment process in engineering practice as an example.

[0083] After the gyro has been leak-checked, vacuumed, sealed, marked, and connected to the front-end board, it will enter the front-end resistor configuration link and the gyro stiffness center adjustment process. Figure 8 As shown, a variable frequency three-phase gyro motor power supply is used to power the gyro separately. In this example, the gyro motor power supply frequencies correspond to ω1=480Hz, ω2=520Hz, and ω=500Hz respectively.

[0084] Clamp the gyro onto the debugging fixture. At this time, the gyro's momentum moment points to the sky. Weld the leads of the special fixture for adjusting the gyro's stiffness center to the corresponding welding points on the gyro's front plate. Put the turntable spindle in the initial position. Figure 7 As shown, the pitch axis of the turntable is rotated to a position parallel to the earth's polar axis. At this time, the gyroscope's momentum axis is parallel to the earth's polar axis, and the gyroscope is not affected by the earth's rotation component ω e The interference torque M generated by the rotation of the earth e It can exclude the numerous interfering moments of the gyroscope.

[0085] Set the frequency of the variable frequency three-phase gyro motor power supply to the gyro tuning frequency of 500Hz, set the gyro torque device toggle switch on the line sequence reversing tooling to the off state, and set the gyro sensor zeroing resistors Rx1, Rx2, Ry1, and Ry2 on the gyro stiffness center adjustment plate to 0Ω. Start the power supply of the control circuit board. At this time, the gyro motor and excitation are connected, and the gyro is in an open circuit state. First, try to close the gyro torque device toggle switches of the X-axis and Y-axis in the positive sequence respectively to observe whether the gyro closed circuit is normal. If the gyro closed circuit is abnormal, try to close the gyro torque device toggle switch of the X-axis or Y-axis in reverse sequence. When the X-way or Y-way reverse sequence line sequence switch is closed to make the gyro closed circuit normal, swap the two reverse gyro leads at the lead end of the front amplifier board. After swapping the line sequence, the X-way and Y-way gyro torque device toggle switches can be closed in the positive sequence to make the gyro closed circuit normal.

[0086] By adjusting the 4 gyro sensor zero adjustment knobs on the special board through the gyro stiffness center, change the resistance Rx1, Rx2, Ry1, and Ry2 on the gyro sensor bridge circuit to minimize the AC zero voltage output of the X and Y gyro sensors, close the feedback loop, and observe the DC zero voltage and AC zero voltage output of the gyro rate. Generally, the DC zero voltage of the gyro rate output is ≤1mV, and the AC zero voltage of the gyro rate output is ≤6mV. If the above conditions are not met, turn off the gyro, wait for a few seconds, restart the gyro, and repeat the above debugging process.

[0087] Set the variable frequency three-phase gyro motor power supply frequency to 520Hz, and record the DC zero-position voltage U of the gyro two-way rate output at this time. x520 and U y520 , then set the frequency of the variable frequency three-phase gyro motor power supply to 480Hz, and record the DC zero-position voltage U of the gyro two-way rate output at this time x480 and U y480 , observe U x520 -U x480 and U y520 -U y480 Is it ≤0.1mV? If it does not meet the requirements, then appropriately change any of the four gyro sensor zero adjustment resistors Rx1, Rx2, Ry1, and Ry2 on the gyro stiffness center adjustment board. The principle of appropriately changing the above resistors is to make U x520 or U x480 and U y520 or U y480 Numerically close to as well as The value is close to the median value of the DC zero-position voltage of the gyro rate output corresponding to the two frequencies. Continue to repeat the above operation of appropriately changing the resistances of Rx1, Rx2, Ry1, and Ry2, and finally make U x520 -U x480 ≤0.1mV and Uy520 -U y480 ≤0.1mV.

[0088] Set the variable frequency three-phase gyro motor power supply frequency to 500Hz, turn off the gyro, wait for the gyro motor to stop completely, or slowly rotate the turntable pitch axis in the gyro closed circuit state, rotate the turntable pitch axis to the azimuth attitude and horizontal attitude respectively, start the gyro and observe the gyro rate output DC zero voltage and AC zero voltage respectively. Generally, the gyro rate output DC zero voltage is ≤5mV, and the gyro rate output AC zero voltage is ≤6mV. If the gyro rate output does not meet the above conditions, repeat the above full debugging process until the final conditions are met. Record the configured resistance data, gyro sensor AC zero voltage, gyro rate output DC zero voltage, and gyro rate output AC zero voltage in the record table respectively.

[0089] The following are respectively Figure 3 a) Situation Figure 3 c) and Figure 4 d) as an example to adjust the gyro stiffness center. The corresponding adjustment process is shown in Tables 1 and 2. The gray background in the table represents the adjustment on the corresponding state side of the frequency, and the gyro rate output DC zero voltage value obtained after the adjustment operation; the non-gray background represents the observed value.

[0090] Table 1 corresponds to Figure 3 Example of gyroscope stiffness center adjustment process in case a)

[0091]

[0092] Table 2 corresponds to Figure 3 c) and Figure 4 Example of the gyro stiffness center adjustment process for the case in d)

[0093]

[0094]

[0095] After using the above gyro stiffness center adjustment method, when the gyro motor frequency ω∈[480, 520] Hz range, the gyro rate output zero voltage remains approximately unchanged.

[0096] According to the recorded resistance values ​​of Rx1, Rx2, Ry1, and Ry2, take the corresponding chip resistors and weld them closely to the front amplifier board of the gyroscope. After welding, clean the solder flux and solder particles and other impurities on the surface of the front amplifier board. Start the gyro and re-measure the gyro sensor AC zero voltage, gyro rate output DC zero voltage, and AC zero voltage in the azimuth attitude and horizontal attitude of the gyro. Generally, the gyro rate output DC zero voltage is ≤5mV, and the gyro rate output AC zero voltage is ≤6mV. Record the data in the record table to complete the entire gyro stiffness center adjustment process, and then transfer the gyro to the gyro test phase.

[0097] It should be emphasized that the embodiments described in the present invention are illustrative rather than restrictive. Therefore, the present invention includes but is not limited to the embodiments described in the specific implementation manner. Any other implementation manners derived by those skilled in the art based on the technical solution of the present invention also fall within the scope of protection of the present invention.

Claims

1. A dual-degree-of-freedom gyroscope stiffness center adjustment device, characterized in that: It includes a dual-axis turntable, a variable-frequency gyro motor power supply, a digital meter, a gyro force feedback rebalancing control circuit board and a gyro stiffness center adjustment board, wherein the gyroscope is installed on the dual-axis turntable, the variable-frequency gyro motor power supply is connected to the insulator corresponding to the gyro motor lead, and is used to supply power to the gyro motor, the gyroscope stiffness center adjustment board is placed near the gyroscope and is connected to the gyro zeroing circuit board, and is used to adjust the stiffness center of the gyroscope, the digital meter is connected to the gyroscope force feedback rebalancing control circuit board, and is used to measure data, and the gyroscope force feedback rebalancing control circuit board is connected to the gyro zeroing circuit board, and is used to output the excitation voltage, the force feedback current and the sensor zero voltage.

2. The device for adjusting the stiffness center of a dual-degree-of-freedom gyroscope according to claim 1, characterized in that: The gyro stiffness center adjustment board includes four gyro sensor zero adjustment resistors, which are carbon film adjustable resistors to avoid interference of inductance on gyro stiffness center adjustment and gyro preamplification and zero adjustment resistor configuration processes.

3. The device for adjusting the stiffness center of a dual-degree-of-freedom gyroscope according to claim 1, characterized in that: The dual-axis turntable has the functions of main axis and pitch axis rotation.

4. The device for adjusting the stiffness center of a dual-degree-of-freedom gyroscope according to claim 1, characterized in that: The gyroscope force feedback rebalancing control circuit board has a gyroscope force feedback closed-loop control function, and is used to enable the gyroscope to work in a force feedback closed-loop state.

5. A method for adjusting the stiffness center adjustment device of a dual-degree-of-freedom gyroscope according to any one of claims 1 to 4, characterized in that: The following steps are involved: Step 1: Place the gyroscope on top of the dual-axis turntable and place the gyroscope stiffness center adjustment plate near the gyroscope; Step 2, connect the digital meter to the gyroscope force feedback rebalancing control circuit board, connect the gyroscope force feedback rebalancing control circuit board to the gyroscope zeroing circuit board, connect the variable frequency gyro motor power supply to the insulator corresponding to the gyro motor lead, and connect the gyroscope stiffness center adjustment plate to the gyroscope zeroing circuit board; Step 3: Adjust the stiffness center of the gyroscope using the gyroscope stiffness center adjustment plate.

6. The method for adjusting the stiffness center of a dual-degree-of-freedom gyroscope according to claim 5, characterized in that: The specific implementation method of step 3 is: placing the gyro's momentum axis in a static position parallel to the earth's polar axis, the gyro is in an open circuit state, and adjusting the gyro sensor's AC zero voltage in sequence through the gyro sensor zero adjustment resistors Rx1, Rx2, Ry1 and Ry2 To the minimum, close the force feedback loop of the gyro rebalancing control circuit, reduce the rotation frequency of the gyro motor, at this time the rotation frequency of the gyro motor is ω1, record the value of the gyro rate output DC zero voltage and Then adjust the gyro motor's rotation frequency symmetrically. At this time, the gyro motor's rotation frequency is ω2. Record the value of the gyro rate output DC zero voltage. and Adjust the gyro sensor zeroing resistor so that or Towards the mean Approach and observe and or and The convergence trend of the gyro sensor is determined, thereby deciding to continue adjusting from the ω1 or ω2 frequency corresponding state side. By adjusting the gyro sensor zero resistance, the gyro rate output DC zero voltage value is close to the voltage value corresponding to the gyro stiffness center point. The above voltage value approximation adjustment steps are repeated repeatedly, and finally the gyro rate output DC zero voltage remains unchanged when the gyro motor rotation frequency is set to any frequency within the frequency range of ω1 to ω2.

7. The method for adjusting the stiffness center of a dual-degree-of-freedom gyroscope according to claim 5, characterized in that: The stiffness center adjustment is performed synchronously with the gyroscope preamplification and zero adjustment resistor configuration process.

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